crawled up it is a small 6 legged walking robot which we have based on the fingers of the deal are had to on the features Special to The crawler are

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Thompson's is in each joint and of course and then each for these are the last to implement compline control algorithms making the

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crawler walk smoothly and elastic only by the legs which are basically the fingers of the DR had to what constructed in a joint effort of teams dealing with mechanics electronics and

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control technology the trial itself was then built up by a relatively small teams and we are now working together with a 2nd department which will

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realize the robot medication based on camera think that the cameras standard commercially available cameras all the algorithms that we used to process the camera data on special stock we have

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2 cameras installed on the crawler by which we obtained stereo images a colleague

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has developed and written a very efficient and powerful algorithms for processing the stereo data this algorithm which has been used for example for modeling terrain data acquired with satellites or aircraft has not been ported to the cross which uses it for its navigation through rough terrain come off the monitor displays a process camera image of the prolog Prolog takes the initial stereo camera

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data extracts the 3 D information and builds up the contour map of the terrain colors the

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matter in red green and yellow according to how passable the terrain as for it is based on that

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information it chooses the easiest way to reach its destination and that could cover what

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used to mean application for such a crawling robot is moving in areas set up too dangerous or inaccessible to humans public while medium-term goal of the crawlers to provide us with 1st experiences of

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movement over rugged terrain and to learn how the cross independently overcome obstacles with Alex human intervention the long-term goal is of course that the robot will manage to find its own way and perform given task in a

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completely unknown terrain whether this will be the collection of stones or searching for

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something is presently of secondary importance also a space research for example the expiration of distant planets is 1 of several future applications in which we can imagine the crawler to be

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beneficial another important future use his assistance in disaster areas we can imagine having a group of

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crime that in parallel explore the disaster area perhaps searching for victims or

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injured humans as completely economist such robots many such applications come to mind such as area struck by

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earthquakes where chemical industry accidents both very challenging and worthwhile golds for using the Crawmer whom Rosalind our

Inhaltliche Metadaten

The DLR Crawler is a six-legged walking robot that is based on the finger modules of the DLR Hand II. It allows to study future exploration robots and is used as a test bed for the development and evaluation of different force- and kinematics based gait and control algorithms.